I don’t know about your children, but mine are pretty grumpy in the mornings if I just go in and wake them up.  This is especially true if I’m telling them they must get up right away.  So we have found an alternative that works much better for us most mornings.  (There are still those occasional extra-early or rushed mornings when there is no option but to just shoo them out of bed.)

Before I head into the shower, I turn on the stereo and the hall light, and swing their bedroom door wide open.  The sound and the light rouse them, but without the light glaring directly into their eyes or the obnoxious sound of an alarm.  They are usually up by the time I get out of the shower (which is the goal).  Occasionally, they are not yet up, but they are nearly always awake.  Plus, if we follow this routine regularly (which we have not done lately, because this pregnant mama just wants to sleep!), the music and light serve as a gentle cue to the girls that it’s time to rise, without Mama having to “give orders.”